Gyroscopic stabilizer



Feb. 22 1927.

A. S. CHESSIN GYROSCOPIC STABILIZER Filed Feb. 5, 19]. 7 2 Sheets-Sheetl ffV W ,4 TTOR/VEY Patented Feb. 22, lee?.

reiste? ALEXANDER S. CHESSN, OF NEW YORK, N. Y.

G-YROSCOPIC STABLIZER.

Application filed February 3, 1917.

My invention relates to devices for steadying bodies subject toswinging, rolling, or other oscillating motions or disturbances, and hasfor its object to provide an im proved, eniciently operating stabilizervof the gyroscopic type. i

rlwo speciiic embodiments of my invention will now be described withreference tothe accompanying drawings, and the novel features will thenbe pointed out in the appended claims.

In said drawings, Fig. l is a Somewhat diagrammatic elevation showingone form of my improved stabilizer, with parts in section; Fig. 2 is aplan view, with a diagram ot the electrical connections; Fig. 3 is adetail longitudinal vertical section of one of the electromagneticclutches employed in the device shown in Figs. 1 and 2; Fig. 4l is afragmentary elevation, with parts in section, showing another form of myinvention; Fig. 5 is a partial section taken on the line 5 5 of Fig. 4i;and Figs. 6 and 7 are detail tace views illustrating certain contactsused in conjunction with the forms of my invent-ion shown in Figs. l to3 and 4 and 5 respectively.

Referring particularly to the form of my invention illustrated by Figs.1, 2, 3, and 6, A designates an axle or fulcrum stationar7 relatively tothe body (say, a ships hull) to be steadied; generally, this axle orulcrum will be normaly horizontal and will extend in the longitudinalcentral plane ot the ship or other body. On this axle or fulcrum ismounted the carrier B, which in the arrangement inst referred to willthere-k fore be capable of swinging in a transverse plane. ns shown,theupper ends ot the cardo' rier are made with alining bearings B,horizontal in the normal position, illustrated, and receiving transversealining trunnions C projected from opposite ends of a frame C. In thistrame a gyroscopic rotor D is supported with its spindle D to turn aboutan axis which is perpendicular tothe axis olf the trunnions C andintersects the fulcrum axis A as well as the axis ot said trunnions (orof the bearingsB). rlhe axis 01c the trunnions C lies in a planeperpendicular to thefulcrum axis A. fr universal or Cardanic connectionthus exists between the frame C andthe body carrying the fulcrum A. Thedetail construction ot the rotor D and the means 'for operating it,being Welllniown in the art, have notl been shown in Serial No. 145,321.

the drawings; as a rule, an electrically actuated rotor is preferred. @tcourse, this gyroscopic rotor will be made of proper dimensions toproduce the desired steadying effec-t, it being understood that theswing.

ing motions of the bony to which the device is attached, will set upreactions by the gyro'- scopic rotor D tending to restore such body toits normal posi ion, in accordance With well-established principles.

ln order to control the gyroscopic elfect of the device, l have provideda special actuating clutch mechanism in connection With the trunnions C,which mechanism comprises an operating member on each side, in axialalinement with the respective trunnions C. ln the embodiment of myinvention illustrated by Figs. l, 2, 3, and 6, each of the trunnions Ccarries rigidlyan operating pulley E and a counterbalancing pulley E.Each orn the operating pulleys E is connected by a (normally horizontal)belt F with an actuating pulley G, made Wholly or partly ot iron orother magnetizable material, so that the said pulley may serve as anarmature to be attracted by one or the other of two electromagnets H, Hbetween which said pulley G is located. The pulley is not only adaptedto rotate about its axis, but is also capable of al longitudinal slidingmovement toward one or the other of said electromagnets. ln theparticular construction shown, the pulley G is mounted to slide and toturn on a stationary sleeve J secured to the core or hub of thestationary electromagnet H, and is normally held in a central positionbetween the two electromagnets, by coiled springs K. rllhrough theelectromagnets H, H and through the sleev J extends the drive shaft L,rotated permanently in any suit-able manner, and upon this shaft issecured rigidly, as by means of a key, the rotary electromagnet H. Theopposing faces of the pulley G and of the electromagnets H, H aresuitably shaped (and lined, if desired) to form clutch surfaces; in theparticular case illustrated, these surfaces are conical. To preventsticking of the pulley or armature owing to remanent magnetism, theclutch surfaces of the two electroinagnets may be on cover-plates h, 7Lof non-magnetizable inaterial, and direct `contact may be avoidedbetween the armature and the magnetizable portions or annular cores ofthe two electromagnets. The electromagnet coils l-l, H2 are preferablycoaxial With `driving belt F on one f the drive shatt L. One end oiteaeh eoil ll, H2 is shown connected with `the eore o t the respeetiveniagnety and tllrouirh it :ind the shaft L, with the 'traine or beariiurfil in which said shatt journaled; the other end of eaoh oeil lil ll2ie' eonneeted Willi an (insulated) binding poet h', lli" reeyiei'tively.Eaoh ot the oounterlmlaneioir null eonneeted by a ('i'iornially horii ilF with an idler pulley (l jonrni Aed in mit able Stationary brachen-i"l". rlfhe objert et the pulleys E@ and belt l1" -inzgily lo balance orneutralize the nul exerted by the de ot' the annotatie-5 or the other,whichever belt imbottite to be in operation. Normally (with theonerirtingf pulleys G in the position ebown in Figi', il the belts F arefree, but onder eertznn eonditions, as described hereii'iatten one pellif G or the other ie thrown into eluteb enejzrnient with the rotaryeleciroimnijnrt ll." fuijaeent to it, and in this ease the correi-spoinhing belt F beeoniee operative :is described below.

Each of the trunnione C carrier: rigidly a` Contact strip or brush l?,ineniated troni the trnnnion, as by a sleeve l. lhis brutali is adaptedto engage two eegrinental contactplates Q, Q (see Fie'. (l)y the Snarebetween said plates being preferably a little wider than the brush l),so as to break 'the eontaot between the brush and one plate betere thebrush engages the other plate in paesini; from one plate to the other.The lilatee Q, Q are stationary, being carried by erinnerte R inode oitrubber or other insulating inaterial. The cont-eet plates Q, Q," areprorided with binding posts S, S ieetirelyg` end are set` :Hush in thesupporte il. llnirai'inir nienibers T, preferably nitide yielding', :lorinstance by ineens et fiprines l are adapted to be engaged by thecarrier PiT and specilieally by the bearings B', et the Haine time thatthe brushes lf engage the reeneetire Contacts Q, Q', thus relieving);the seid een taets from undue pre nre. The supports l may be inclinedslightly, as indieated (minewhat exaggerated) in Fine. i :1nd il1 :lo mito be approximately perpendienlar to the position ot' the respectivetrnnnion C at the time the brush l?` engages the conta/ete Q or Q.

Broedly speaking. 'it is deeired to have th apparatus operate in euch amanner the when the brush l) engages the ront-act il the correspondingrotaryelectroniamiet ll will be energized so :is to attract thearninture or pulley G and cause it to rotate. the uietion beinertransmitted by the belt lil to the pulley E so ne to swine; the'ti-eine@ about the axis of the trunnions C. Should the brush I? bearried beyond the eontaet t). and pass onto the eontaet Q, thie n'illemilie the closing ot another eireuit to enerilae the stationaryeleetroniagnet H so ne not relegato only to unelnteh the `Willey G tronithe ro- 'te ry eleetroinagnet l-l, but to loch such pnlley positivelyagainst rotation, by its engrregren'ient with Said stationaryeleetroinae; net. ln the drawings, l have shown an ai raiufenient inwhich the circuit olor-ted by the brush l doee not include the coils H,H2 ot the leleetrolnagnets H, I-l'l respectively, but includes relayseoi'itrolling separate energizing; circuits; thus l ain enabled to use astronger current tor ener-griZing;` the eleetroinagnete than the currentemployed in the brush circuit. In Fig. 3, I have shown tl e binding*post N connected by a wire a, with another binding;r poet N on a rien; Vsecured rigidly to the rotary electroinagnet H but ineulatml therefrom,said ring; being in permanent engagement with a stationery Contactspring lV carried by the bearing' M but insulated.tl'ierelronn andprovided with a binding` post lll.

rlfhe electrical connections may be ar ranged as indicateddiagrannnatically in Fig. From one terminal ot the battery K wires Zi, olead to the respective brushes or Contactmakers (Switches) P. The otherbattery pole has tour connections or Wires e, oj c and c* leadingl torelays Y. Y', Y, and Y* respectively. The Wires c and c* are connectedwith the Contact platters or eer'- niente Q at the respective sides ofthe appartiture. The other wires,` o and c, are connected with adoublepole switch Z, by means ot which said Wires may be oonneeteihsimultaneously, with Wires (Z and a" resipertirely` connected with thecontact niente Q at the respective sides ot the deyiee. Each oi the'tour relays is adapted to elose, when energizedi a eireuit includingthe coil ltl or H2 et one ot the :tour electro` magnets Ht H. For thispnrpoee`r eaeh ot the relays. when energized. will connect a eontaet (ne, 0). c* ret-ipertiyely, with another Contact 7"'. f. f, f*respectively. `he contacte c. e are connected by Wires Vr/` yreeiieetively, with the binding poets N ot the respective (stationary)eleetroinaenet coils ll". Similarly, the contacts e', e* are con heeledby Wireil y', [ft respectively. with the binding poete; lll oi the tu'oContact springs llt'. The contacte f@ f` f* are connected by Wires i',i', i, i* respectively with one pole ot a source ot' electricity, Ytorinstance a main j Connected my, with the ships dyininio. Frein the otherniain j Wires lf, lead to the two bearings or trainee M.

Tilhen. owing' to :i tranerer swing ot the earrier lh the brui-1h orcontect Strip l on one side ot the apparatus if` brought into engagement`with the condnet-ing.;l leegfrnient or plate (ilJ on that f-:ide (thebrush being nornially in registry with the upper end ot' euch intent`see Fig. Q). the eireuit ot the bati .y )i will be eloeed. :my throughl), l. Q. end e. The relay Y heini;` time energized,

lUU

will establish an electrical connection between the conta-cts e and f,thus closing the following circuit: Main j, wire i', contacts f, e, wireg', contact spring lV, ring V, post N, wire a, post N', coil H2 oi'i thecorresponding rotary electromagnet H, core ot said electromagnet, s iattL, bearing hl, wire.

k, and thus bach to the other main The electromagnct H being thusenergized, will attract the armature or pulley G and couple it Vwith thesaid rotating electromagnet. Through the medium of the belt F the pulleyE will be operated to turn the trame C with the gyroscopic rotor D aboutthe axis ot' the bearings B', thereoy automatically producing a.definite precession ot the rotor D, this'particular precessionl last-inguntil the contact b-etween P and Q, is broken. The breaking ot thiscontact may occur either owing to the return transverse swing of thecarrier B about the aXis A (which will be the case generally), or owingto the fact that the' swinging or turning ot the trame C about the axisor' the bearings B will carry the brush P beyond the lower -edge ot thecontact segment Q; and into engagementv with the non-conducting orinsulated support R. The purpose of the support R is partly to carry theconducting segments Q and Qf, and partly to provide an extended bearingsurface, flush with said segments, on which the brush P may pass when itgoes beyond the edge ot one ot said segments, so that the brush F canreadily return to a position facing the conducting .segment Q.. As soonas contactis broken between l) and Q, the corresponding magnet H iscle-energized, and the springs l will bring the operating pulley G tothe disengaged position shown in 3. From that time on, the swing of theframe C is due exclusively to the action ot the engage ing member T. Theprecession due to the action oic this member T is also automatic butgenerally ot different magnitude trom the precession due to the actionct the belt F. ln Letters Patent of the United States No. 1,134,439issued to me on April 6th, 1915, I have referred to the precession dueto the action of an engaging member such as T, as the normal precession.@n the other hand, the precession due tothe action of the driving belt Fneed not be normal, but is controlled automatically, andthe speed otathis precession may be made greater or smaller than normal, by properlyadjusting or selecting the velocity at which the shafts L andelectromagnets l-l rotate. rlhus this precession is not only absolutelyunder control, but its speed may be predetermined'to comply withvariable conditions. ln practice, the Iswinging of the 'frame C shouldbe limited to comparatively small angles, represented substantiallybythe ent-ent of the conducting segments Q. This is accomplished readilyby regulating correspondingly, ythe speed of the rotating shafts L andelectromagnets lil. However, under unusual circumstances, the reactivetorce of the stabilizer may be insuiiicient, and in such cases it may beadvisable to hold the traine C against turning about they axis ot thebearings B until the unusual disturbance has passed. |The locking deviceemployed tor this purpose is operated, in the construction shown inFigs. 1, 2, 3, and 6, whenever the swing ot the frame C about thetrunnions C is sufficient to carry the brush l? not only beyond thelower edge of the upper segment Q, but into contact with the lowersegment Q. When this occurs, the following circuit will be closed:Battery X, wires c, Z (the switch Z being in the closed posi tion, andnot in the open position appearing in Fig. 2), conducting segment Q,brush P, and bac-lr to the battery through the wire o. ln passingthrough the wire c, the current energizes the relay Y, .so as toestablish on electrical conection between the contacts e, ,t and thusclose the following circuit: Main y', wire z, contacts 7 and e, wire g,binding post N and coil H ot the corresponding stationary electromagnetH, core ot said magnet, shaft L, bearing M, and back to the other main jthroughthe *ire 7s. Y The electromagnet H being thus energized, willattract the pull-ey G and bring it into engagement with the clutching orlocking surtace of the magnet, thus holding th-e pulley againstrotation, and since this will also positively stop the movement ot thebelt F, the pulley E and the frame C will be held against turning aboutthe aXiQ ot the bearings B.` The pulley G will not be released trom themagnet H until the brush P comes out ot engagement with the conductingsegment Q; the lett-hand springK (Fig. 3) will then restore said pulleyto the normal central position and leave the pulley E and trame C treeto turn about the axis of the bearings B. lt for any reason it isdesired to dispense with the locking action controlled by theelectromagnet H, the switch Z is brought to the open position shown inFig. 2, in which case the action will be just as it the segments Q,electromagnets H, and the electrical connections ot such stationaryelectromagnets were @t course, it' the locking action is not desired atall, the segments Q, electromagnets H, and the wires, etc., connectedwith said electromagnets could be omitted altogether. By providing theswitch Z (located on the captains bridge or at any other convenientpoint of the ship), am enabled to use the apparatus either with orwithout the locking action, as desired. As will be seen in Fig. 2, theconducting segments Q, QJ are arranged reversely on the two sides of theapparatus, andthe two shafts L ro omitted. y

tote in opposite directions, so that the drive belts F on the two sideswill more in opposite directions :is indicated. Ot course, only one ot'the belts F will be operative it ii tinie.

,ln the construction deecrilied tiliove. the current flowing through thebriislieii l) iii; not the iiiiiiie iis the one thiit eiiergixes theeleetroiiingnets ll', Il. biil ot course thiS in not. erselitiiil tohij.' iiiventioi'i, :ind the sinne current ('t'liiit in. the oui-rentol" the buttery X) iiiight be need to ene/f ze the electro niiignets..ln this wise, the :ipiiiiriitiin would be. siiiiiilitied greiitly.,winne l would oiiiit the reliilw Y. Y Y, oleo the wires4 @i ci: (in:*i* @ff i fri ,7H/i juli .Ci/i t/,i g, g*. i, 'i'. i". it. j, j. :indlf.. ln eddit-ion, there would lie substituted the followingconnectione: liliieli ot the coiidiietingl segments Q would be connectedwith the corresponding contiict spring lV; euch et the` hearings M wouldhe connected with the batter)T X on the side opposite to thiitconnected, with the wires 7i. o. :ind the two nienibers or terininiilgvoit' the switch Z would be connected with the binding poets N ol" theStationary electioiiiiigiiets.` ll. The oper :ition would lieinilietzintiiilljrw the sinne ai` deY Iscribed above, except that thecontact ot one of the brushes; P with the seiinient Q (or O7 with theswitch Z eloeedl would energize. the corresiionding iiiiigiiet Il or Hrespectively) directly, without tiny relay action.

The lower part of the trziiiie (l. :is ifhown in Fig. l, niiiy beIQonieiiluit heavier than its upper part. so :is to gire the tronic :itendency to grfivitiite to i definite noriiiiil position.

In the forni ot niv invention illustrated by Figs. et, 5, :ind 7, theports A. l, B. C, D. D".` R, S. T. ll. P. P. Q. nre exactly the Sinneas' in the forni lirstl described. :ind rliiii'e therefore been Shownoni),7 in piiit. the support R carries only one conducting segment, Q.The extended trunnioni; C nre adopted to engage. when the ship or otherbody `swings transversely, :i socket m. located :it eiich side of theapparatus. in Such ii i'ioition :is to ziline with .said trunnion nt thetinie of engaging it. Siiid socket fm, secured rigidlyVT to stationerysupporte fn, n', :ind is tornied :it the end ot ii iliiii in. carrying);:i stationary thinged sleeve o. with its end iiliite o. On this Sleeve:ire iiioiinted loosely the nulle)T El" nud the riitehet. wheel yirigidly secured to Suid pulley. A conistiintlwY moving belt F", driven`in :my Siiitiilile iiizinner, causes the pulley E sind the ratchet. y)to rotate constantly. the two belle1 F zit the opposite sides ot theiippziriiliis traveling iii oiiiposite directionii. just :is indiciitedfor the belts F in F ig. The teeth ot eiieh ot the ratchet wheels i titbeing understood that the :irriingeiiient shown in Fig. 4 is provided etthe other side of the a A i rf r: o (il,

iippziriitiis zilo) :ire zidiiptei'l .it'or drivingr engiigeinei'it withzi pziwl Ar; pii'oted. :it r upon :in :irin or brochet r secured rigidlyto the adjacent trunnion C. One end ot the pziwl is driiwn towiird thenoriiiiil, raised position Shown in li`ig. 5. by the iiction of :ispring s, the other end ot the piiwl entries :in :irnintiire r/ adoptedto be iittriicted (against the action ot the .spring s) by :inelectronnignet H3 carried b i' Suid zirni r. lllires t. tiesiiiectiveli' connect' the two teiiiiinzils ot the iiiiigiiet coil,with the brush l) :ind one `pole oi ii eource ot electricity X reepeetirthe other pole ot said sourceot eleetriiity (buttery) being connected byii wire t with the binding post S o the conducting segment Q lllhciiiitransverse swing ot the ship or other body to which the apparatus isiittzu-hed, brings the socket fm. into zixiiil olineii'iont with theiidjiicent trunnion C, and `liglitli7 betere thin nionient establishescontoot between the bros-h l) and the conducting riegiiient Q. the:following :ietion tziltes pince: lili-St. the eiii'ient ot the butteryX is Sent through the circuit ot the electroinzignet, 'troni one pole towire if. segment Q, brush l?, wire t. eleetron'iiignet H3. :ind beck tothe luittery through the wire t. The nuignet being thus enei i'ized. thepziwl y is brought :troni the position elioii'n in t'iill lines (Fig. o)to that indicated by dotted lines. It: the iiiiwl ren'iiiined in theiioiiition shownii'i :tiill lines, it would never be in nienh with theteeth of the ratchet y), even when the trunnioii C is entirely withinthe socket m;

Fig. shows the triiniiion C in n position Shortly betere it conies; intoengagement with the bottoni olf the socket m, and the dotted lineeindicate clearly,7 that the pziwl o, when iittriicted by theelectroniiignet H3, will he projected into the path ot the rotaia ingrzitchet teeth. so :iS to couple Suid wheel yi with the zirni i'. thetrunnion C, sind the 'tranne (l. to produce iii'ecession with the ienneetlect is described in connection with the torni ot my invention Shownin Figs. l, 2. 5l. :ind (l. As the. ship or other hotly swings boch' tothe norinzil position. the trunnioii C :ind Socket. in. will come out otcontact, iind :it the Sonie time the brush l? will conie out ot contactwith the .Gegnicnt Q, so thiit the magnet ll?" will beconie deenergized.The zi wl o will thun liecoine diev engaged i''roiii the rotcliet wheelyiriso that during the return Swing, the iii'eceseion will lie due nolonger to the :iction ot the pooitiveli' driven ratchet wheel y). but tothe engaging ineiiilier T. in :i iiuiiiiiei siiiiilzir to the onedtwcribed in connection with Figs. l. 3,. :ind (i. The insulating sleeveP employed iii connection with the brush l. in eiicli ol thecoi'iiitruetione illustrated, iS not iilirolutelyY essentiel. einen thewire connected with the brush inight Simply lend to the 1. In a. bodycapableof oscillation, the

combination, with a gyroscope structure movably connected thereto, of anoperating device comprising a. driven member carried by said structure,a driving membeigand electrically controlled means brought into actionby the swinging of the body, for establishing an operating connectionbetween said members.

2. The combination with al body, of a gy roscope structure capable of aswinging movement relatively thereto, a driven member carried by saidstructure, a driving member carried by the body, and electricallycontrolled means for establishing an operating connection between saiddriving` and said driven members.

'Ihe combination with a gyroscope and a swinging support therefor, of almember carried by said support and adapted to be driven with thegyroscope about an axis other than the gyroscopes axis of spin, adriving member, and electrically controlled means for establishing anoperating connection between said members.

e. In a devicek for stabilizing a body, a gyroscope structure capable ofa swinging movement relatively thereto, a driven mem ber ca "ried bysaid structure, a driving member, and a clutch, brought into act-ion bythe tendency ofthe body to deviate from its position of equilibrium',for establishing an operating connection between said driv ing and saiddriven members.

In a body subject to angular deviations, a. structure capable of ayswinging movement relatively to the said body and comprising a frame anda gyroscope mounted therein, a member rotatable with said frame, adriving member normally out of engagement with said rotatable member,and electrically controlled means, brought into action by the angulardevia-tion ofthe body, for establishing an operating connection betweensaid driving and said rotatable members.

6. In a. body to be stabilized, a structure capable of a swingingmovement rela-tively thereto, a gyroscope mounted in said structure,moving devices adapted tosco-operate with said gyroscope, which movingdevices are partly carried by the said structure and partly by the body,said moving devices being normally out of operative-'engagement with oneanother, and electrically controlled means forV e'iecting suchengagement.

7. In a. body subject to angular devia-tions, a. structure capable of aswinging movement relatively to the said body, a gyroscope mounted insaid structure,moving devices adapted to co-operate with said gyroscope,said moving devices being carried by the body and normally out ofoperative enga-gement with the said structure, and electricallycontrolled means for effecting such engagement.

8. In a. gyroscopic stabilizer of a body, a structure capable of a.swinging mov-ement relatively tothe said body, a gyroscope mounted onsaid structure, moving devices adapted to co-operate with saidgyroscope, said moving devices being carried by the body and normallyout of operative enga-gement with said structure, and a clutch foreffecting suoli engagement.

9. In a'body subject to angular deviations, a structure capable of aswinging movement relatively thereto and comprising a gyroscope, andelectrically controlled means adapted to engage said structure as thebody tends vto deviate from its normal position. to produce precessionof the said gyroscope.

10. In a body subject to angular deviations, the combination with astructure capable of a swinging movement relatively thereto andcomprising a gyroscope mounted for precession at a right angle to saidswinging movement, of an electrical device responsive to the angulardeviations of the said body, and continuously actuated means, controlledby the said device, for producing precession of predetermined speed.

iljIn abody Asubject to angular 'deviations, a structure capable of a.Swinging movement relatively thereto and comprising a gyroscope mountedfor precession at aright angle to said swinging movement, a deviceresponsive to the angular deviations ot the said body, and electricallyycontrolled means, co-operating with said device, for producingprecession of predetermined speed.

12. In a gyroscopic stabilizer of a body comprising a. gyroscope havingthree degrees of rotational freedom, continuously actuated.,electrically controlled, means for producing precession, and means,responsive. to said precession, for exerting al stabilizing couple onthe said body.

13. In a .body subject to angular devia.- tions, al structure capable ofay swinging movement relatively thereto and comprising a gyroscope,electrically controlled means for producing precession of the saidgyroscope, and means for regulating said precession.

14. In a gyroscopic stabilizer, .of a body comprising a gyroscope havingthreedegrees of rotational i'reedon'i, oontimlously actuated.eleiftrieally eoi'itrolleifl, minne lor producing' preeeseion, said.means being` automatieallv responsive to the Sivingimij movement ot thebody, and means tor regulating the said preeession. i

lli. ln a body subject to tiene, a` etrueture capable olf a swingingnnivoineut relatively thereto and Comprising a gyroseope, anelectrically eontrolledilev iee reanonsive to the angular deviations ot'the body, and indepeiulentlv actuated means, tio-operating with saiddevice, Alor producingl preeession olf the n vroeeope.

16. In a body,v to be stabilized, a gyroseope Struetnre capable oi aSwinging movement relatively thereto, driving meinbera carried by thesaid body, elertrieallv eontrolled meann :tor bringing" aaid drivingmembers into operative eng: nient with the said Structure, and menne`tor aetuating said driving members.

17. In a hotly eubjeet to angular deviations, a. stirnrture niovabl)Temineeted thereto and comprising a gyroeeope, actuating members carriedby' the said body, and eleetrieallv eolntrollml menne, reeiioneive tothe angular deviatioir-= oi" the aaid body, 'lior bringing saidaetnutingr members; into operative engagement with portions; of the eaidStreet-ure.

The rombination with a body, ot a `gymseope miiiieeted therewith in eneha manner as to give the `y'oeeoiie rotor three degrees of rotationali'reedoin relatively to the Said body, one et said degrees ol:rotational lreedom beine; limited, and eleetlrieallv controlled in forpreilut-ine` procession of the said grifo-leone an the limit ot saidlimited degree oi? relational treedoui is reached.

19. The eombiimtion with a hiiidy, of a. gyroiieope poeeeaeing threeflog-rees oi: rotational lreedtnu"relativeliY thereto, one ol l@aiddegrees olf rotational l'reedoni being;l limited, means for produeiniiynrereeafion et' the said evroeeono as the limit ot said limited degreeot rotational freedom ie reached, aA oluteh niieehanisin toreontrollingr,` Said mean-i, and menne for actuating; @aid elutelimeehaniem.

20. ln a hodjir eihlieet to anfgnlar devia! tions, a strl'ieture havinga limited degree ol rotational il`reedoni relatively thereto andeoinprising; a immersione, moana ioi tiredneing procession ot the aairlrtree-rope :te the limit oil? said degree oli freedom is reached, aelnteh mechanism lor ernilrolline; eaid means, and means .responsive tothe engin lar deviationI ol the bi'nljf, lor ontoinatieallv ControllingSaid eluteh ineelnniiein.

2l. The combination with a body, ol a gyroseope spinning; ahont one olfite aree, adapted to process; abolita eeeend axle, and having a limiteddegree ol ri'itationnl fret an g'nlar devia teramo domabout a thirdarie, and eleetrieally Controlled means ior producing preeeesion of theSaid gyroseope about Said second axis as the limit ot :laid rotationalilreedou'i is reached.

The combination with a body, of a gyroeeone spinning,` about one ot it.;axes, adapted to procese about a second axis, and having a limiteddegree of rotational freedom about a third axis, means for prodneingpreeeseion oi the said grifoseope as the limit of said rotationalfreedom is reached, a. eluteh for controlling said means, and mean@v:for regulatinel said lnfeeesfsion.

255. In a bodyr Subject to angular deviations, a etrizetnre having alimited degree of rotational treedoin relativelyy thereto andeoniprieing` a `tryroeeoptn an electrical oontrol device ieepoivive tothe angular devia tions oi the body, means; Controlled by said l deviceior @angine1 said gyroeeope to process as the limit olI said rotational:t'reedoin is reaohed, ior exerting a stabilizing couple on the saidbody.

ln a hodj,7 Snbjeot to angular deviations, a gri-oscene atrijietureeapable of a invinging movement; relatively thereto, a driven member.inonnted to move with a portion of Said structure, a driving member, aeireuit closer comprising elements carried respectively h v the saidbody :id the said Structure and adapted to evo-operate with each otherin response to the angular deviatiene ot the body, and means controlledby the said circuit Closer `tor establishing' an operating' eonneetionbetween said driving,l and said driven membere.

25. In a. body to be stabilized, the combination with a Fitrneturehaving a limited dearee ot rotational lri-iedom relatively thereto andcomprising; a ,iglyroeoopm of an operatingr deviee comprising aeireuitcloser having one oli its elemente lined relativel;r to the body and theother element fixed relatively to the Said letrueture, and means,eontrolled by the said eirenit closer, for eausingeaid evi'oeeope topreeeee as; the limit ot said degree oit` freedom is reaehed.

E2G. The combination with a bodyY and a structure capable ot angulardeviation relatively to one another, o l? an operating deviceeomprising'tivo driven nlembers carried by Saidl strueture and loeatrdat opposite sides thereof, driving,Y inen'lbera, and eleotriealljvcontrolled menne, rei-:pensive to Said :ingrnlar deviation, lorestablishing; a drivingv ron neetion between an oseratineT member andthe correspondine` driven niember.

2T. ln a body to be Aetahiliiaed, the combination with a structurehaving,- a limited degree of rotational Freedom relatively thereto andcomprisingl a gvroseope, ot a pair of eirenit oloeers loeated atopposite sides ot' the said Structure, each cirenit closer Compriaing anelement fixed relatively to the body CIK and an element fixed relativelyto said structure, and means, controlled by said circuit closers, forcausing .said gyroscope to precess as the limit of said degree offreedom is reached.

28. The combination with a body and a structure capable of a swingingmovement relatively to one another, ot an operating device responsive tosaid relative movement and comprising driven members carried by the saidstr cture and located at opposite sides thereof, driving members movingin opposite directions, circuit closers located at oppositedsides of thesaid structure, each circuit closer comprising an element hiredrelatively to the body and an element iiXed relatively to saidstructure, land means,l controlled by the said circuit closers, `torestablishing an operating connection between one of the saiddrivingmembers and the corresponding driven member.

29. In a body to be stabilized, the combination with a structure havinga limited degree of rotational freedom relatively to the said body whenthe body is in-equilibrium and comprisingl a gyroscope, or an operatingdevice compris-ing a multiplicity of circuit closers made operative bythe incipient d eviation ot the body from said position ofequilibrium,which deviation is adapted to check said limited degree otfreedom, and means, controlled by said circuit closers, 'tor causingsaid gyroscope to precess.

30. In a gyroscopic stabilizer, the combination, with a gyros-copicrotor, a 'trame in which it is journaled, a carrier pivotally connectedwith the body to be steadied and supporting said frame to swing about anaxis transverse to the pivot axis, driven members located on oppositesides ot said trame and mounted to move in unison therewith,circuit-closer elementslilrewise located on oiposite sides ot said frameand mounted to move in unison therewith, driving members moving inopposite directions, co-operating circuit-closer elements mounted onsaid body and adapted for contact with the first-named circuit-closerelements during oscillations ot the said body, and means, controlled bysaid circuit-closers, for establishing a driving connection between oneor the other ot said driving members and the corresponding drivenmember. Y

31. In a gyroscopic stabilizer, the combination, with a gyroscopicrotor, a trame in which it is journaled, a carrier on which said trameis mounted to swing about an axis transverse to the, rotor axis, saidcarrier being'fulcrumed on the body to be .stes-relied, the fulcrum axisbeing transverseto the axis about which the trame swings relatively tothe carrier, drivenmembers carried by said trame on opposite sides otthe fulcrum, driving members carried by said body, circuitcloserelements carried by said Jframe on opposite sides of the tulcrunnand(zo-operating circuit-closer elements carried by said body andconverging toward the side on which the tulcrum is located, and means,controlled by said circuit-closers, for establishing a drivingconnection between one or the other ot' said driving members and thecorresponding driven member.

32. In a body subject to angular deviations, a gyroscope structurecapable ot a swinging movement relatively thereto, a driven membercarried by the said structure, a driving member, `electricallycontrolled means for establishing` an operating connection between saiddriving and said driven members, and a contact member carried by thebody and adapted to make contact with said structure substantially atthe same moment that the aforesaid connection is established.

33. In a body subject to angular deviations, a gyroscope structuremovably vconnected thereto, a driven member carried by said structure, adriving member carried by the body, a clutch mechanism for establishingan operating connection between said driving and said driven members,and contact members carried by the body and :Klap-- ed to engage thesaid gyi'oscope structure as the body deviates trom its normal position.

234-. In a body subject to angular deviations, a gyroscope structurecapable of a swinging'- movement relatively thereto, moving devicescarried by the body andnormally out of operative engagement with thesaid structure, electrically controlled means :tor eecting suchengagement, and resilient contact members carried by the body andadapted to engageV the .said structure as the body deviates from itsnormal position.

35. In` a bod;7 subject to angular deviations, a structure capable ot aswinging movement relatively thereto and comprising a gyroscope, Contactmembers carried by the boly and adapted to engage said structure as thebody devia-tes from its normal position, and Velectrically controlledmeans. cooperating with the. said contact members, for producingprocession of the said gyroscope.

36. In a body subject to angular deviations, a structure movablyconnected thereto and comprising a gyroscope, electrically7 controlledmeans tor producing precession otV the said gyroscope, and conta tmembers carried by the body and adapted to engage the said structure. toproduce another precession ot the said gyroscope.

37. In a body subject to oscillations, a gyroscope structure inovablyconnected thereto, electrically controlled Contact menibers carried bythe ,body Yand adapted to ll O CII

nation, with a gyroscopic'rotor and a support therefor loosely connectedwith the body to be steadied, of a driven' member mounted to move inunison with said ysupport, an armature-pulley carried by said body andoperatively -connected 'with said driven member, a rotary electromagnetand a stationary electromagnet locatedon opposite sides of said pulleyand adapted for engagement therewith, and a double circuitcloser,adapted to be brought into operation by oscillations of said body, andcomprising two members arranged to come into action .successively and inactuating relation to the respective electromagnets. Y

5l. In a body subject to angular deviations, the combination with agyroscope structure, of a driving member carried by the body, a drivenmember carried by said structure, a clutch mechanism for actuating saiddriving member, a brake mechanism adapted to lock said driven member,means for keeping said driving member out of operative engagement withsaid driven member when the body is in its normal position, means forenergizing said clutch mechanism when the body deviates from its normalposition, and means for energizing said brake mechanism when saidangular deviations of the body exceed a certain predetermined limit.

52. In an apparatus for stabilizing a body `and comprising a gyroscopehaving three degrees of rotational freedom, electrically controlledmeans for producing precession'of the gyroscope, a precessionloclingdevice, and means for energizing said locking device when the precessionof the said gyroscope exceeds a certain predetermined limit.

53. ln a body subject to angular deviations, a gyroscope having threedegrees ot' rotational freedom,` means for producing precession of saidgyroscope, a clutch mechanism for controlling said means, a precessionlocking device, circuit closers made operative by the angular deviationsvof said body, and means, controlled by said circuit closers, rforenergizing said clutch mechanism or said locking device.

54. In a` gyroscopic stabilizer, the combination, with a gyroscopicrotor and a support therefor loosely connectedv fwith the body to besteadied, of a. driven pulley and counterbalancing pulley both mountedto move in unison with said support, a driving pulley located at oneside of said support and connected with the driven pulley, an idlerpulley located at the other side of the support and connected with thecounterbalancing pulley, and mea-ns, brought into action by oscillationsof said body, for establishing a driving action on said driven member.

55. A gyroscopic stabilizerlcomprising a gyroscope mounted for threedegrees of rotational freedom, power means lfor governing the precessionof saidl gyroscope, and a limit device for causing said power means tostop.

56. A gyroscopic. stabilizer comprising a gyroscope mounted for threedegrees of rotational freedom, power means for governing the precessionof said gyroscope, and a limit device on said gyroscope for renderingsaid power means inoperative.

5'?. A gyroscope mounted for three degrees of rotational freedom, meansfor braking said gyroscope about a precessional axis, and meansresponsive to precession beyond a predetermined .limit for applying saidbraking means.

58. lnV a body subject to angular deviations, a gyroscopic stabilizercomprising a gyroscope mounted for ythree degrees of rotational freedom,power means for governingthe precession of said gyroscope, meansresponsive to said angular deviations for controlling said power means,and additionalmeans for automatically rendering said power meansinoperative.

59. In a body subjectto angular deviations, a gyroscopic stabilizercomprising a gyroscope mounted for three degrees of rotational freedom,power means for governing the precession of said gyroscope, meansresponsive to said deviations for controlling said power means, andadditional means responsive to excessive devia-tions of said body forantomotically cutting out said power means.

60. In a body subject toangular deviations, a stabilizer comprising astructure capable of swinging movement ,relatively to said body andcomprising a gyroscope mounted for precession at a right angle to saidswinging movement, power means for governing the precession of saidgyroscope, means responsive to said deviations of said body forcontrolling said power means, and additional means for automaticallyycutting out said power means and applying a brake about the axis ofsaid precession.

6l. In a body subject to angular devia.- tions, a structure capable oflimited swinging movement relatively thereto and comprising a gyroscopemounted. for precession at a right angle to said swinging movement,means for governing the precession of said gyroscope, and a controllertherefor operated by said angular deviations'. Y

62. In a body subject to angular deviations, a gyroscope mounted forthree degrees of rotational freedom, means for governing the precessionof said gyroscope, a normally inoperative brake adapted to brake saidgyroscope about its axis of precession, and automatic means for lcuttingout said prebraking said gyi'oseope aboiit itsaxis of pref cession, undineens foiA musing' said brake to be applied beifoi'e und releasedai'tei reversal o the direction of said angular deviations.

in testimony whereof I have signed this Specification.

ALEXANDER S. CHESSIN.

